小型2足ヒューマノイドロボット脚部の開発

―軽量化及び歩行パターンの生成―

抄録

This paper describes the design of the legs of a small biped humanoid robot. The purpose of this study is to develop a biped humanoid robot system with a more efficient walking motion. The legs of the biped robot are constructed to be compact and lightweight to facilitate adaption to a human environment. It is comparable to the leg length of a Japanese average 10-year old child. The generation of a walking pattern to walk on a flat floor is also discussed. Through a walking experiment on a level floor, the effectiveness of the mechanism of the legs is confirmed.